多无人平台分布式SLAM技术发展综述

doi:10.13474/j.cnki.11-2246.2025.1109

摘要/Abstract

摘要： 针对多无人平台分布式SLAM技术存在的协同定位精度低、环境感知冲突、通信带宽受限等关键问题,本文采用文献分析与方法对比相结合的研究策略,对国内外研究现状开展了研究。首先系统梳理了分布式SLAM在时间同步、数据关联、拓扑优化等环节的核心挑战;然后从平台类型、传感器配置、场景复杂度等维度,对国内外代表性多无人平台数据集进行了对比分析,揭示了现有数据集在异构系统适配性方面的不足;最后展望了多无人平台分布式SLAM技术的发展趋势,指出多模态数据融合与轻量化地图构建的未来研究方向。研究结果为多无人平台协同作业提供了理论支撑与数据参考,对提升复杂环境下的自主协同能力具有指导意义。

关键词: 激光雷达, 相机, 双目视觉, 分布式, SLAM, 多无人平台

Abstract: In response to the key issues such as low collaborative positioning accuracy,environmental perception conflicts,and limited communication bandwidth in the distributed simultaneous localization and mapping (SLAM) technology for multiple unmanned platforms,this paper adopts a research strategy combining literature analysis and method comparison,and conducts research based on the current domestic and foreign research status.It systematically sorts out the core challenges of distributed SLAM in aspects such as time synchronization,data association,and topological optimization.Secondly,it conducts a comparative analysis of representative domestic and foreign datasets for multiple unmanned platforms from the dimensions of platform type,sensor configuration,and scene complexity,revealing the deficiencies of existing datasets in terms of heterogeneous system adaptability.Finally,it looks forward to the development trend of the distributed SLAM technology for multiple unmanned platforms and points out future research directions of multi-modal data fusion and lightweight map construction.The research results provide theoretical support and data reference for the collaborative operation of multiple unmanned platforms and have guiding significance for improving the autonomous collaboration ability in complex environments.

Key words: LiDAR, camera, stereo vision, distributed, SLAM, multiple unmanned platforms

中图分类号:

P237

熊超, 乌萌, 段旭哲, 赵鹏程, 卢传芳, 许剑. 多无人平台分布式SLAM技术发展综述[J]. 测绘通报, 2025, 0(11): 53-61.

XIONG Chao, WU Meng, DUAN Xuzhe, ZHAO Pengcheng, LU Chuanfang, XU Jian. A review on the development of distributed SLAM technology for multiple unmanned platforms[J]. Bulletin of Surveying and Mapping, 2025, 0(11): 53-61.

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